

@InProceedings{JRetal_VERO09,
  author = 	 {Ramos, J. and Azevedo, H. and Mirisola, L. G. B. and Paiva, E. C. and Bueno, S. S. and Vitorino, A. and Azinheira, J. R.},
  title = 	 {Uma Plataforma para Pesquisa e Desenvolvimento em Rob\'otica Terrestre de Exterior},
  booktitle = {{IX} Simp\'osio Brasileiro de Automa\'c\~ao Inteligente {(SBAI)}},
  year = 	 {2009},
  address = 	 {Bras\'ilia, Brasil},
  month = 	 {September}
}

@InProceedings{MBK_Orca06,
  author = 	 {Makarenko, A. and Brooks, A. and Kaupp, T.},
  title = 	 {Orca: Components for Robotics},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop on Robotic Standardization},
  year = 	 {2006},
  address = 	 {Beijing, China},
  month = 	 {Dec},
  annote = 	 {http://www.cas.edu.au/content.php/237.html?publicationid=341}
}

@InProceedings{NPF07_EPnP_EPFL,
  author = 	 {F. Moreno-Noguer and V. Lepetit and P. Fua},
  title = 	 {Accurate Non-Iterative {O}(n) Solution to the {PnP} Problem},
  booktitle = {IEEE International Conference on Computer Vision},
  year = 	 {2007},
  address = 	 {Rio de Janeiro, Brazil},
  month = 	 {Oct},
  annote = 	 {http://cvlab.epfl.ch/software/EPnP/index.php}
}


@Misc{EPnPweb,
  key = 	 {EPFL CVLAB},
  author = 	 {EPFL},
  title = 	 {CVLAB Software Download Page},
  year = 	 {2010},
  note = 	 {http://cvlab.epfl.ch/software/EPnP/index.php}
}

@INPROCEEDINGS{Zhang04extrinsiccalibration,
    author = {Qilong Zhang and Robert Pless},
    title = {Extrinsic calibration of a camera and laser range finder},
    booktitle = {In {IEEE} International Conference on Intelligent Robots and Systems {(IROS)}},
    year = {2004},
    address = 	 {Sendai, Japan},
    month = 	 {Oct}
}

@Article{PLN09_LRFPedestreISR,
  author = 	 {Cristiano Premebida and Oswaldo Ludwig and Urbano Nunes},
  title = 	 {{LIDAR} and vision-based pedestrian detection system},
  journal = 	 {Journal of Field Robotics},
  year = 	 {2009},
  volume = 	 {26},
  number = 	 {9},
  pages = 	 {696-711},
  annote = 	 {http://dx.doi.org/10.1002/rob.20312}
}


@Misc{ROSweb,
  key = 	 {ROS},
  author = 	 {Willow Garage},
  title = 	 {ROS},
  year = 	 {2010},
  note = 	 {www.ros.org}
}


@Misc{ICEweb,
  key = 	 {ICE},
  author = 	 {ZeroC Inc.},
  title = 	 {ICE},
  year = 	 {2010},
  note = 	 {www.zeroc.com}
}

@Misc{Orcaweb,
  key = 	 {Orca},
  author = 	 {Orca Project},
  title = 	 {Orca - Components for Robotics},
  year = 	 {2010},
  note = 	 {http://orca-robotics.sourceforge.net/index.html}
}


@InProceedings{ZYS07_carlascam,
  author = 	 {Huijing Zhao and Yuzhong Chen and Ryosuke Shibasaki},
  title = 	 {An efficient extrinsic calibration of a multiple laser scanners and cameras' sensor system on a mobile platform},
  booktitle = {IEEE Intelligent Vehicles Symposium},
  pages = 	 {422-427},
  year = 	 {2007},
  address = 	 {Istambul, Turkey},
  month = 	 {June}
}

@InProceedings{GGCC09_lascam_horiz,
  author = 	 {Chao-Hua Guan and Jian-Wei Gong and Yong-Dan Chen and Hui-Yan Chen},
  title = 	 {An application of data fusion combining laser scanner and vision in real-time driving environment recognition system},
  booktitle = {8th Int. Conf. on Machine Learning and Cybernetics},
  pages = 	 {3116-3121},
  year = 	 {2009},
  address = 	 {Beijing, China},
  month = 	 {July}
}


@InProceedings{NDRD09_callascamimu,
  author = 	 {P. N\'u\~nez, P. Drews Jr, R. Rocha and J. Dias},
  title = 	 {Data Fusion Calibration for a {3D} Laser Range Finder and a Camera},
  booktitle = {European Conference on Mobile Robots (ECMR)},
  year = 	 {2009},
  address = 	 {Mlini/Dubrovnik, Croatia},
  month = 	 {Sep}
}

@InProceedings{Gao_on-linecalibration,
    author = {Chao Gao and John R. Spletzer},
    title = {On-line Calibration of Multiple {LIDARs} on a Mobile Vehicle Platform},
    year = {2010},
    booktitle = {IEEE Int. Conf. on Robotics and Automation, ICRA},
    address = 	 {Anchorage, AK, 2010},
    month = 	 {may}
}


@InProceedings{Scaramuzza2007-omni3DLRFcal,

  author       = {Scaramuzza, D. and Harati, Ahad and Siegwart, R.},

  title        = {Extrinsic Self Calibration of a Camera and a {3D} Laser Range Finder from Natural Scenes},

  booktitle = {IEEE International Conference on Intelligent Robots and Systems},

  year         = {2007},
  address      = {San Diego, CA, USA},

  abstract     = {In this paper, we describe a new approach for the

extrinsic calibration of a camera with a 3D laser range finder,

that can be done on the fly. This approach does not require any

calibration object. Only few point correspondences (at least 4)

are used, which are manually selected by the user from a scene

viewed by the two sensors. The proposed method relies on a

novel technique to visualize the range information obtained

from a 3D laser scanner. This technique converts the visually

ambiguous 3D range information into a 2D map where natural

features of a scene are highlighted. These features represent

depth discontinuities and direction changes in the range image.

We show that by enhancing the features the user can easily find

the corresponding points of the camera image points. Therefore,

visually identifying laser-camera correspondences becomes

as easy as image pairing. Once point correspondences

are given, extrinsic calibration is done using the well-known

PnP algorithm followed by a non-linear refinement process.

We show the performance of our approach through experimental

results. In these experiments, we will use an omnidirectional

camera. The implication of this method is important because it

brings 3D computer vision systems out of the laboratory and

into practical use.},

}



@InProceedings{BARC09,
  author = 	 {Jan O. Biermeyer and Humberto Gonzalez and Nikhil Naikal and Todd R. Templeton and S. Shankar Sastry and Christian Berger and Bernhard Rumpe},
  title = 	 {Rapid Integration and Automatic Calibration for new Sensors using the Berkeley Aachen Robotics Toolkit},
  booktitle = {Symposium on Automation, Assistence, and Embedded Real Time Platforms for Transportation},
  year = 	 {2009},
  address = 	 {Braunschweig, Germany}
  anote = {http://www.biermeyer.com/index.php?content=papers}
}

@inproceedings{RODR09CI,
    author = {Rodriguez Florez, S.A. and Fremont, V. and Bonnifait, P.},
    title = {An experiment of a 3D real-time robust visual odometry for intelligent vehicles},
    booktitle = {12th IEEE International Conference on Intelligent Transportation Systems, ITSC},
    year = {2009},
    teams = {ASER},
    pages = {1-6},
    address = {USA},
    month = {11},
    url = {dx.doi.org/10.1109/ITSC.2009.5309615 http://hal.archives-ouvertes.fr/hal-00444019/en/}
}

@inproceedings{RODR08aCI,
    author = {Rodriguez Florez, S.A. and Fr\'emont, V. and Bonnifait, P.},
    title = {Extrinsic Calibration between a Multi-Layer Lidar and a Camera},
    booktitle = {IEEE Multisensor Fusion and Integration for Intelligent Systems},
    year = {2008},
    teams = {ASER, DI},
    pages = {214-219},
    address = {South Korea},
    month = {10},
    url = {dx.doi.org/10.1109/MFI.2008.4648067 http://hal.archives-ouvertes.fr/hal-00444112/en/}
}

@inproceedings{RODR08bCI,
    author = {Rodriguez, S. and Fr\'emont, V. and Bonnifait, P.},
    title = {Influence of Intrinsic Parameters over Extrinsic Calibration between a Multi-Layer Lidar and a Camera},
    booktitle = {IEEE IROS 2nd Workshop on Planning, Perception and Navigation for Intelligent Vehicles},
    year = {2008},
    teams = {ASER, DI},
    pages = {34-34},
    address = {Nice, France},
    month = {09},
    url = {http://hal.archives-ouvertes.fr/hal-00464911/PDF/IROS08Workshop.pdf}
}

@inproceedings{bb41530,
        AUTHOR = "Unnikrishnan, R. and Hebert, M.",
        TITLE = "Fast Extrinsic Calibration of a Laser Rangefinder to a Camera",
        BOOKTITLE = CMU-RI-TR,
        YEAR = "2005",
        BIBSOURCE = "http://www.visionbib.com/bibliography/describe440.html#TT39699"}

@inproceedings{bb41531,
        AUTHOR = "Antone, M. and Friedman, Y.",
        TITLE = "Fully Automated Laser Range Calibration",
        BOOKTITLE = "British Machine Vision Conference (BMVC07)",
        YEAR = "2007",
        BIBSOURCE = "http://www.visionbib.com/bibliography/describe440.html#TT39700"}

@Article{BM92_ICP,
  authorfull =   { P.J. Besl and N.D. McKay},
  author =       { P. Besl and N. McKay},
  title =        {A method for registration of 3-d shapes {[ICP]}},
  journal =      {IEEE Pattern Analysis and Machine Intelligence},
  year =         {1992},
  volume =       {14},
  number =       {2},
  pages =        {239-256},
  month =        {February}
}

@InProceedings{MAR_SBAI11_Vero,
  author =       {Luiz G. B. Mirisola and H\'{e}lio Azevedo and  Josu\'{e} J. G. Ramos and Samuel S. Bueno and  Ely de Paiva and Jos\'{e} R. Azinheira},
  title =        {Valida\c{c}\~{a}o Experimental de um Ve\'{i} culo Rob\'{o}tico Terrestre para Ambientes Externos},
  booktitle = {X Simp\'{o}sio Brasileiro de Automa\c{c}\~{a}o Inteligente (SBAI)},
  year =         {2011},
  address =      {S\~{a}o Jo\~{a}o del-Rei, MG, Brasil},
  month =        {Set}
}

@techreport{Naikal:EECS-2009-35,
    Author = {Naikal, Nikhil and Zakhor, Avideh and Kua, John},
    Title = {Image Augmented Laser Scan Matching for Indoor Localization},
    Institution = {EECS Department, University of California, Berkeley},
    Year = {2009},
    Month = {Mar},
    URL = {http://www.eecs.berkeley.edu/Pubs/TechRpts/2009/EECS-2009-35.html},
    Number = {UCB/EECS-2009-35},
    Abstract = {Indoor localization is a challenging problem addressed extensively by both robotics and computer vision communities. Most existing approaches focus on using either cameras or laser scanners as the primary sensor for pose estimation.In laser scan matching based localization, finding scan point correspondences across scans is a challenging problem as individual scan points lack unique attributes. In camera based localization, one has to deal with images with little or no visual features as well as scale factor ambiguities to recover absolute distances. In this paper, we develop a multimodal approach for indoor localization by fusing a camera and a laser scanner in order to alleviate the drawbacks of each individual moda-lity. Specifically, we use structure from motion to estimate the pose of a moving camera-laser rig which is subsequen-tly used to compute piecewise homographies for planes in the scene scanned by the laser scanner. The homographies provide scan correspondence estimates which are refined using a window based search method for scan point projections on the images. We have demonstrated our proposed system, consisting of a laser scanner and a camera, to result in a 0.3% loop closure error for a 60m loop around the interior corridor of a building.}
}

@article{BiermeyerTempletonBergerGonzalezNaikalRumpeSastry10_RapidIntegrationCalibrationOfNewSensorsUsingBerkeley,
    author = {J. Biermeyer and T. Templeton and C. Berger and H.
              Gonzalez and N. Naikal and B. Rumpe and S. S.
              Sastry},
    title = {Rapid Integration and Calibration of New Sensors
              Using the Berkeley Aachen Robotics Toolkit (BART)},
    journal = {Proceedings des 11. Braunschweiger Symposiums
              "Automatisierungssysteme, Assistenzsysteme und
              eingebettete Systeme f\"{u}r Transportmittel", ITS
              Niedersachsen, Braunschweig},
    year = {2010},
    abstract = {After the three DARPA Grand Challenge contests
              many groups around the world have continued to
              actively research and work toward an autonomous
              vehicle capable of accomplishing a mission in a
              given context (e.g. desert, city) while following
              a set of prescribed rules, but none has been
              completely successful in uncontrolled
              environments, a task that many people trivially
              fulfill every day. We believe that, together with
              improving the sensors used in cars and the
              artificial intelligence algorithms used to process
              the information, the community should focus on the
              systems engineering aspects of the problem, i.e.
              the limitations of the car (in terms of space,
              power, or heat dissipation) and the limitations of
              the software development cycle. This paper
              explores these issues and our experiences
              overcoming them.},
    URL = {http://chess.eecs.berkeley.edu/pubs/773.html}
}

@InProceedings{NaikalIROS09_lascam_odom,
  author =       {  N. Naikal and J. Kua, G. Chen and A. Zakhor},
  title =        {Image augmented laser scan matching for indoor dead reckoning},
  booktitle = {Int. Conf. on Intelligent Robots and Systems (IROS)},
  year =         {2009},
  address =      {St. Louis, MO, USA},
  month =        {Set},
  pages =         {4134-4141}
}


@misc {opencvWeb,
key     ={OCV},
year    =2012,
month   =apr,
howpublished = {Web Page},
title   ={OpenCV - Open Source Computer Vision},
note = {opencv.willowgarage.com/}
}
